An electronic control lifting system for driverless vehicles

Abstract

The present invention discloses an electronically controlled lifting system for driverless vehicles. In the present invention, a manual lifting valve is connected to the P ports of two proportional solenoid valves, and pilot working hydraulic oil is input from here; the manual lifting valve is connected to the T ports of the two proportional solenoid valves and is connected to the hydraulic oil tank; the 1 port and the 2 port of the manual lifting valve are respectively connected to the 1 ports of two shuttle valves; the A ports of the two proportional solenoid valves are respectively connected to the 2 ports of the two shuttle valves; the oil inlet of the lifting directional valve is connected to the lifting pump, and the oil return port is connected to the hydraulic oil tank; the present invention only needs to control two proportional valves, solving the problem of non-linear pressure output. Two shuttle valves are integrated into the hydraulic valve block, reducing the number of switching valves, making the system simpler, more reliable and easier to transform; in particular, the working paths of the proportional solenoid valves and the proportional solenoid valves are respectively connected to the 1 port and the 2 port of the shuttle valve. When they work respectively, the working oil flows out through the 3 port to the lifting directional valve, and they do not affect each other at the same time.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle electric control lifting, and particularly relates to an electric control lifting system for driverless vehicles. Background Art

[0002] Driverless vehicles adopt the full-stack technology of autonomous driving, which can achieve deep perception, high-precision positioning, decision-making and intelligent control in all scenarios, all-weather and all-round; different types of robotic technology components are collaborated through the network to achieve services that are difficult for a single robot to complete, achieving multi-robot collaboration; at the same time, driverless vehicles include various special vehicles such as driverless mining trucks. The key technology of driverless mining trucks is to achieve bus digital control, build a multiple redundant architecture to ensure the functional safety of the vehicle; vehicles such as driverless mining trucks generally perform lifting operations through electric control during the working process.

[0003] In the existing technical solutions, several switching valves and pressure reducing valves are used in superposition for control. When controlling the lifting, it is necessary to electrically control several switching valves and pressure reducing valves, and the control is relatively complex. Moreover, the output working pressure cannot be linearly regulated, and the transformation process of driverless vehicles is relatively complex. Therefore, we propose an electric control lifting system for driverless vehicles to solve the problems existing in the prior art. Summary of the Invention

[0004] The purpose of the present invention is to provide an electric control lifting system for driverless vehicles to solve the problems in the prior art mentioned in the above background art.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] An electric control lifting system for driverless vehicles, comprising:

[0007] A lifting oil cylinder, a lifting directional valve, a lifting pump, a shuttle valve, a proportional solenoid valve, a hydraulic oil tank and a manual lifting valve;

[0008] The manual lifting valve is connected to the P ports of two proportional solenoid valves, and pilot working hydraulic oil is input from here;

[0009] The manual lifting valve is connected to the T ports of two proportional solenoid valves and is connected to the hydraulic oil tank;

[0010] The port 1 and port 2 of the manual lifting valve are respectively connected to the port 1 of two shuttle valves;

[0011] The A ports of two proportional solenoid valves are respectively connected to the port 2 of two shuttle valves;

[0012] The oil inlet of the lifting directional valve is connected to the lifting pump, the oil return port is connected to the hydraulic oil tank, and both sides are respectively connected to the port 3 of two shuttle valves. The two working ports are respectively connected to the large chamber and the small chamber side of the lifting oil cylinder.

[0013] Preferably, the manual lifting valve is arranged to control the position of the spool in the valve by hand-operating the handle, enabling the hydraulic oil entering from port P to flow out through port 1 or port 2, generating a working pressure of 0 - 30 Bar. When the handle is not operated, ports 1 and 2 are directly connected to the hydraulic oil tank, and no working pressure is generated.

[0014] Preferably, the proportional solenoid valve can be controlled by current or voltage. When there is pressure at port P, it linearly outputs a working pressure of 0 - 30 Bar according to the magnitude of the current. When there is no current, the remaining pressure at port A overflows through port T.

[0015] Preferably, when there is pressure at port 1 or port 2 of the shuttle valve, it can be output through port 3.

[0016] Preferably, when the pump outputs working pressure, the lifting reversing valve can displace its spool through the working pressure output from port 3 of the shuttle valve, and the pressure output from the pump reaches the large chamber or the small chamber of the lifting cylinder.

[0017] Preferably, during manual operation: when there is no current in the two proportional solenoid valves, move the operating handle of the manual lifting valve to the right. The pressurized oil in the manual lifting valve flows out through port 2, then through port 3 of the shuttle valve, and then pushes the spool of the lifting reversing valve to the left. The working oil in the lifting pump enters the large chamber of the lifting cylinder, causing the lifting cylinder to lift upward; move the operating handle of the manual lifting valve to the left. The pressurized oil in the manual lifting valve flows out through port 1, then through port 3 of the shuttle valve, and then pushes the spool of the lifting reversing valve to the right. The working oil in the lifting pump enters the small chamber of the lifting cylinder, causing the lifting cylinder to lower; when not operating, the lifting reversing valve remains in the middle position, and the lifting cylinder remains stationary.

[0018] Preferably, during electric control lifting: the manual lifting valve remains in the middle position. The middle proportional solenoid valve can linearly control the output pressure at port A by controlling the magnitude of the current. The hydraulic oil at port A enters the left side of the lifting reversing valve through the shuttle valve. According to the output pressure at port A, the displacement of the spool inside the lifting reversing valve can be linearly controlled, thereby controlling the pressure of the working oil entering the small chamber of the lifting cylinder by the lifting pump; the right proportional solenoid valve can linearly control the output pressure at port A by controlling the magnitude of the current. The hydraulic oil at port A enters the right side of the lifting reversing valve through the shuttle valve. According to the output pressure at port A, the displacement of the spool inside the lifting reversing valve can be linearly controlled, thereby controlling the pressure of the working oil entering the large chamber of the lifting cylinder by the lifting pump, so as to achieve wire-controlled lifting.

[0019] Preferably, connect the proportional solenoid valve and the working path of the proportional solenoid valve to port 1 and port 2 of the shuttle valve respectively. When they work respectively, the working oil flows out through port 3 to the lifting reversing valve, and they do not affect each other at the same time.

[0020] Technical effects and advantages of the present invention: A power-controlled lifting system for driverless vehicles proposed by the present invention has the following advantages compared with the prior art:

[0021] In the present invention, the manual lifting valve is connected to the P ports of two proportional solenoid valves, and pilot working hydraulic oil is input from here; the manual lifting valve is connected to the T ports of two proportional solenoid valves and connected to the hydraulic oil tank; the 1 port and 2 port of the manual lifting valve are respectively connected to the 1 ports of two shuttle valves; the A ports of two proportional solenoid valves are respectively connected to the 2 ports of two shuttle valves; the oil inlet of the lifting directional valve is connected to the lifting pump, the oil return port is connected to the hydraulic oil tank, the two pilot control ports on both sides are respectively connected to the 3 ports of two shuttle valves, and the two working ports are respectively connected to the large chamber and small chamber sides of the lifting cylinder;

[0022] The present invention only needs to control two proportional valves, solving the problem of non-linear pressure output. Two shuttle valves are integrated into the hydraulic valve block, reducing the number of switching valves, making the system simpler, more reliable and easier to transform; especially, the working paths of the proportional solenoid valves and the proportional solenoid valves are respectively connected to the 1 port and 2 port of the shuttle valve. When they work respectively, the working oil flows out through the 3 port to the lifting directional valve, and they do not affect each other at the same time.

[0023] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures pointed out in the specification and the drawings. Description of the Drawings

[0024] Figure 1 It is a schematic diagram of the connection sequence and principle between the valves shown in the hydraulic system schematic diagram of the present invention;

[0025] In the figure: 1. Lifting cylinder; 2. Lifting directional valve; 3. Lifting pump; 4. Shuttle valve; 5. Proportional solenoid valve; 6. Hydraulic oil tank; 7. Manual lifting valve. Detailed Embodiments

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The specific embodiments described here are only used to explain the present invention and are not used to limit the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0027] The present invention provides the following embodiments: Figure 1 As shown:

[0028] The hydraulic system of a dump truck according to an embodiment of the present invention includes: the manual lifting valve 7 is connected to the 5P ports of two proportional solenoid valves, and pilot working hydraulic oil is input from here; the manual lifting valve 7 is connected to the 5T ports of two proportional solenoid valves and is connected to the hydraulic oil tank 6; the port 1 and port 2 of the manual lifting valve 7 are respectively connected to the port 1 of two shuttle valves 4; the A ports of two proportional solenoid valves 5 are respectively connected to the port 2 of two shuttle valves 4; the oil inlet of the lifting reversing valve 2 is connected to the lifting pump, the oil return port is connected to the hydraulic oil tank 6, the two sides are respectively connected to the port 3 of two shuttle valves 4, and the two working ports are respectively connected to the large chamber and the small chamber side of the lifting cylinder 1.

[0029] The present invention provides an electronically controlled lifting system for an unmanned vehicle, as Figure 1 shown, which includes a lifting cylinder 1, a lifting reversing valve 2, a lifting pump 3, a shuttle valve 4, a proportional solenoid valve 5, a hydraulic oil tank 6, and a manual lifting valve 7. Each component is connected together according to the hydraulic principle diagram.

[0030] Manual lifting valve 7: Manually operate the handle to control the position of the spool inside the valve, so that the hydraulic oil entering from the P port can flow out through port 1 or port 2, generating a working pressure of 0 - 30 Bar. When the handle is not operated, port 1 and port 2 are directly connected to the oil tank, and no working pressure is generated.

[0031] Proportional solenoid valve 5: It can be controlled by current or voltage. When there is pressure at the P port, it linearly outputs a working pressure of 0 - 30 Bar according to the magnitude of the current. When there is no current, the remaining pressure existing at the A port overflows through the T port.

[0032] Shuttle valve 4: When there is pressure at port 1 or port 2, it can output through port 3.

[0033] Lifting reversing valve 2: When the pump outputs working pressure, the working pressure output through the port 3 of the shuttle valve can displace its spool, and the pressure output from the pump reaches the large chamber or the small chamber of the lifting cylinder.

[0034] During manual operation, there is no current in the two proportional solenoid valves 5. When the operation handle of the manual lifting valve 7 is toggled to the right, the pressure oil in the manual lifting valve flows out from port 2, flows out through the port 3 of the shuttle valve 4, and then pushes the spool of the lifting reversing valve 2 to the left. The working oil in the lifting pump 3 enters the large chamber of the lifting cylinder 1, causing the lifting cylinder to lift upward; when the operation handle of the manual lifting valve 7 is toggled to the left, the pressure oil in the manual lifting valve 7 flows out from port 1, flows out through the port 3 of the shuttle valve 4, and then pushes the spool of the lifting reversing valve 2 to the right. The working oil in the lifting pump 3 enters the small chamber of the lifting cylinder 1, causing the lifting cylinder 1 to lower; when not operating, the lifting reversing valve 2 remains in the middle position, and the lifting cylinder 1 remains stationary.

[0035] When lifting is controlled electrically, the manual lift valve 7 remains in the middle position. The intermediate proportional solenoid valve 5 can linearly control the output pressure of port A by controlling the magnitude of the current. The hydraulic oil at port A enters the left side of the lift reversing valve through the shuttle valve 4. According to the magnitude of the output pressure of port A, the displacement of the spool inside the lift reversing valve 2 can be linearly controlled, and further the pressure of the working oil entering the small chamber of the lift cylinder 1 by the lift pump 3 can be controlled. The proportional solenoid valve 5 on the right side can linearly control the output pressure of port A by controlling the magnitude of the current. The hydraulic oil at port A enters the right side of the lift reversing valve through the shuttle valve 4. According to the magnitude of the output pressure of port A, the displacement of the spool inside the lift reversing valve 2 can be linearly controlled, and further the pressure of the working oil entering the large chamber of the lift cylinder 1 by the lift pump 3 can be controlled; thus, wire-controlled lifting is achieved.

[0036] In summary, the present invention only needs to control two proportional valves, solving the problem of non-linear pressure output. Two shuttle valves are integrated into the hydraulic valve block, reducing the number of switching valves, making the system simpler, more reliable, and convenient for transformation;

[0037] The connection sequence and principle among the valves shown in the hydraulic system schematic diagram in the attached drawings are as follows: the manual lift valve is connected to the P ports of the two proportional solenoid valves, and pilot working hydraulic oil is input from here; the manual lift valve is connected to the T ports of the two proportional solenoid valves and is connected to the hydraulic oil tank; port 1 and port 2 of the manual lift valve are respectively connected to port 1 of the two shuttle valves; the A ports of the two proportional solenoid valves are respectively connected to port 2 of the two shuttle valves; the oil inlet of the lift reversing valve is connected to the lift pump, the oil return port is connected to the hydraulic oil tank, the two pilot control ports on both sides are respectively connected to port 3 of the two shuttle valves, and the two working ports are respectively connected to the large chamber and the small chamber side of the lift cylinder; in particular, the working paths of the manual-automatic valve and the proportional valve are respectively connected to port 1 and port 2 of the shuttle valve, and when they work respectively, the working oil flows out through port 3 to the lift reversing valve, and at the same time, they do not affect each other.

[0038] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An electric lift system for an autonomous vehicle, characterized in that, Including: a lifting oil cylinder (1), a lifting directional control valve (2), a lifting pump (3), a shuttle valve (4), a proportional solenoid valve (5), a hydraulic oil tank (6) and a manual lifting valve (7); the manual lifting valve (7) is connected to the P ports of two proportional solenoid valves (5), and pilot working hydraulic oil is input from here; the manual lifting valve (7) is arranged to control the position of the spool in the valve by hand-operating the handle, so that the hydraulic oil entering from the P port can flow out through port 1 or port 2, generating a working pressure of 0 - 30 Bar. When the handle is not operated, ports 1 and 2 are directly connected to the hydraulic oil tank, and no working pressure is generated; the manual lifting valve (7) is connected to the T ports of two proportional solenoid valves (5) and is connected to the hydraulic oil tank; port 1 and port 2 of the manual lifting valve (7) are respectively connected to port 1 of two shuttle valves (4); the A ports of two proportional solenoid valves (5) are respectively connected to port 2 of two shuttle valves (4); the inlet port of the lifting directional control valve (2) is connected to the lifting pump (3), the return port is connected to the hydraulic oil tank, and both sides are respectively connected to port 3 of two shuttle valves (4), and two working ports are respectively connected to the large chamber and the small chamber side of the lifting oil cylinder (1); the proportional solenoid valve (5) can be controlled by current or voltage. When there is pressure at the P port, it linearly outputs a working pressure of 0 - 30 Bar according to the magnitude of the current. When there is no current, the remaining pressure at the A port overflows through the T port. When there is pressure at port 1 or port 2 of the shuttle valve (4), it can be output through port 3. When the pump outputs working pressure, the lifting directional control valve (2) can displace its spool through the working pressure output from port 3 of the shuttle valve (4), and the pressure output from the pump reaches the large chamber or the small chamber of the lifting oil cylinder (1).

2. The electronic control lifting system for a driverless vehicle according to claim 1, wherein: During manual operation: there is no current in two proportional solenoid valves (5). When the operating handle of the manual lifting valve (7) is toggled to the right, the pressure oil in the manual lifting valve (7) flows out from port 2, flows out through port 3 of the shuttle valve (4), and then pushes the spool of the lifting directional control valve (2) to move to the left. The working oil in the lifting pump (3) enters the large chamber of the lifting oil cylinder (1), causing the lifting oil cylinder (1) to lift upward; when the operating handle of the manual lifting valve (7) is toggled to the left, the pressure oil in the manual lifting valve (7) flows out from port 1, flows out through port 3 of the shuttle valve (4), and then pushes the spool of the lifting directional control valve (2) to move to the right. The working oil in the lifting pump (3) enters the small chamber of the lifting oil cylinder (1), causing the lifting oil cylinder (1) to lower; when not operating, the lifting directional control valve (2) remains in the neutral position, and the lifting oil cylinder (1) remains stationary.

3. The electronic control lifting system for a driverless vehicle according to claim 2, wherein: When electronically controlled lifting: The manual lifting valve (7) remains in the middle position. The intermediate proportional solenoid valve (5) linearly controls the output pressure of port A by controlling the magnitude of the control current. The hydraulic oil at port A enters the left side of the lifting directional valve (2) through the shuttle valve (4). According to the magnitude of the output pressure of port A, the displacement of the spool inside the lifting directional valve (2) can be linearly controlled, and further the pressure of the working oil entering the small chamber of the lifting cylinder (1) by the lifting pump (3) can be controlled. The proportional solenoid valve (5) on the right linearly controls the output pressure of port A by controlling the magnitude of the control current. The hydraulic oil at port A enters the right side of the lifting directional valve (2) through the shuttle valve (4). According to the magnitude of the output pressure of port A, the displacement of the spool inside the lifting directional valve (2) can be linearly controlled, and further the pressure of the working oil entering the large chamber of the lifting cylinder (1) by the lifting pump (3) can be controlled, so as to achieve wire-controlled lifting.

4. An electric lift system for a driverless vehicle according to claim 3, characterized in that: Connect the working paths of the proportional solenoid valve (5) and the proportional solenoid valve (5) to port 1 and port 2 of the shuttle valve (4) respectively. When they work respectively, the working oil flows out through port 3 to the lifting directional valve, and they do not affect each other at the same time.

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